We used Asterisk at work for a long while (and probably still do, but I've been out of professional IT for nearly a decade) which routed to hardware SIP phones or else Zoiper on both PC and Android on-call phones. While I maintained the Asterisk server environment and set up new SIP phones occasionally, the in-the-weeds VOIP stuff was handled by a technician at our local VOIP company, and the Asterisk setup existed prior to me joining, so I'm sorry to say I don't have much insight to offer.

I can say Zoiper worked just fine for employees and Zoiper installs were set up very similarly to how we set up take-home phones; they had/have a browser extension to click-to-dial numbers in our ticketing systems, which was nice -- there may be good FOSS software out for these tasks now.

I don't do anything special at home; I just use a headset connected to PC for Google Voice with a free (in the US, at least) number and don't even see when calls come in unless they leave a message or I know someone's going to call and I leave a Google Voice tab open. Messages get forwarded to email. There are sometimes services I can't sign up for as a result of only having a VOIP number -- Anthropic in particular comes to mind as a company which blocks VOIP numbers for signup, but no essential services (e.g. bank, broker, kids' school) in the 10 or so years I've been phoneless. Yealink makes a really nice DECT headset I use (a WHB640) in and around the house, but it's way too expensive; fantastic range, though.